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基于激光测距的船体分段焊缝自主寻位
引用本文:刘源,刘芳,马宏波,林涛,朱振友.基于激光测距的船体分段焊缝自主寻位[J].上海理工大学学报,2017,39(2):149-153.
作者姓名:刘源  刘芳  马宏波  林涛  朱振友
作者单位:上海理工大学 材料科学与工程学院, 上海 200093,上海理工大学 材料科学与工程学院, 上海 200093,江苏北人机器人系统股份有限公司, 苏州 215021,江苏北人机器人系统股份有限公司, 苏州 215021;上海交通大学 材料科学与工程学院, 上海 200240,江苏北人机器人系统股份有限公司, 苏州 215021
摘    要:采用激光测距传感器扫描船体格子间型结构件工件的各个侧面,得到特征点,经算法处理生成离线机器人程序.基于该焊缝寻位方法,将柔性化的焊缝寻位技术集成于机器人平台载体,并利用C#语言开发了一套可用于格子间型件焊缝寻位的软硬件系统.该系统能精确地实现焊缝轨迹的自主寻位,系统精度为0.4mm,重定位精度为0.16mm.实现了格子间型件非接触式快速寻找焊缝的功能,大大缩短了焊缝寻位时间.

关 键 词:柔性化焊接  焊缝寻位  激光测距  船体分段
收稿时间:2016/9/28 0:00:00

Weld Seam Automatic Searching for Hull Blocks in Shipbuilding Based on a Laser Displacement Sensor
LIU Yuan,LIU Fang,MA Hongbo,LIN Tao and ZHU Zhenyou.Weld Seam Automatic Searching for Hull Blocks in Shipbuilding Based on a Laser Displacement Sensor[J].Journal of University of Shanghai For Science and Technology,2017,39(2):149-153.
Authors:LIU Yuan  LIU Fang  MA Hongbo  LIN Tao and ZHU Zhenyou
Institution:School of Materials Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China,School of Materials Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China,Jiangsu Beiren Robot System Co., Ltd., Suzhou 215021, China,Jiangsu Beiren Robot System Co., Ltd., Suzhou 215021, China;School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai 200240, China and Jiangsu Beiren Robot System Co., Ltd., Suzhou 215021, China
Abstract:A laser displacement sensor was used to get the characteristic points by scanning each side of cubicle work-piece,and the system would generate off-line programs automatically after those points were processed by a certain software.Based on this automatic searching method,the flexible welding technology and C# language programming technology were applied to a robot welding system.The system can search the weld seam precisely,the precision and repeatability of positioning are 0.4 mm and 0.16 mm respectively.The weld system realizes the rapid searching of weld seams by the means of non-contact sensing,and reduces the searching time immensely.
Keywords:flexible welding  seam searching  laser displacement sensor  hull block
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